diff options
Diffstat (limited to 'src/dynamics/solver/categorization.rs')
| -rw-r--r-- | src/dynamics/solver/categorization.rs | 32 |
1 files changed, 16 insertions, 16 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index d110971..cef9c9e 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -6,10 +6,10 @@ pub(crate) fn categorize_contacts( multibody_joints: &MultibodyJointSet, manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], - out_ground: &mut Vec<ContactManifoldIndex>, - out_not_ground: &mut Vec<ContactManifoldIndex>, - out_generic_ground: &mut Vec<ContactManifoldIndex>, - out_generic_not_ground: &mut Vec<ContactManifoldIndex>, + out_one_body: &mut Vec<ContactManifoldIndex>, + out_two_body: &mut Vec<ContactManifoldIndex>, + out_generic_one_body: &mut Vec<ContactManifoldIndex>, + out_generic_two_body: &mut Vec<ContactManifoldIndex>, ) { for manifold_i in manifold_indices { let manifold = &manifolds[*manifold_i]; @@ -26,14 +26,14 @@ pub(crate) fn categorize_contacts( .is_some() { if manifold.data.relative_dominance != 0 { - out_generic_ground.push(*manifold_i); + out_generic_one_body.push(*manifold_i); } else { - out_generic_not_ground.push(*manifold_i); + out_generic_two_body.push(*manifold_i); } } else if manifold.data.relative_dominance != 0 { - out_ground.push(*manifold_i) + out_one_body.push(*manifold_i) } else { - out_not_ground.push(*manifold_i) + out_two_body.push(*manifold_i) } } } @@ -43,10 +43,10 @@ pub(crate) fn categorize_joints( multibody_joints: &MultibodyJointSet, impulse_joints: &[JointGraphEdge], joint_indices: &[JointIndex], - ground_joints: &mut Vec<JointIndex>, - nonground_joints: &mut Vec<JointIndex>, - generic_ground_joints: &mut Vec<JointIndex>, - generic_nonground_joints: &mut Vec<JointIndex>, + one_body_joints: &mut Vec<JointIndex>, + two_body_joints: &mut Vec<JointIndex>, + generic_one_body_joints: &mut Vec<JointIndex>, + generic_two_body_joints: &mut Vec<JointIndex>, ) { for joint_i in joint_indices { let joint = &impulse_joints[*joint_i].weight; @@ -57,14 +57,14 @@ pub(crate) fn categorize_joints( || multibody_joints.rigid_body_link(joint.body2).is_some() { if !rb1.is_dynamic() || !rb2.is_dynamic() { - generic_ground_joints.push(*joint_i); + generic_one_body_joints.push(*joint_i); } else { - generic_nonground_joints.push(*joint_i); + generic_two_body_joints.push(*joint_i); } } else if !rb1.is_dynamic() || !rb2.is_dynamic() { - ground_joints.push(*joint_i); + one_body_joints.push(*joint_i); } else { - nonground_joints.push(*joint_i); + two_body_joints.push(*joint_i); } } } |